KR930000648B1 - Motor driven type front and rear wheel steering apparatus - Google Patents

Motor driven type front and rear wheel steering apparatus Download PDF

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KR930000648B1
KR930000648B1 KR1019900007364A KR900007364A KR930000648B1 KR 930000648 B1 KR930000648 B1 KR 930000648B1 KR 1019900007364 A KR1019900007364 A KR 1019900007364A KR 900007364 A KR900007364 A KR 900007364A KR 930000648 B1 KR930000648 B1 KR 930000648B1
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South Korea
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steering
motor
rear wheel
sensor
driven
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KR1019900007364A
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KR900017862A (en
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미쓰하루 모리시타
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미쓰비시덴키 가부시키가이샤
시키모리야
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1581—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by comprising an electrical interconnecting system between the steering control means of the different axles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

내용 없음.No content.

Description

모터 구동식 전 후륜 조향장치Motorized Front Wheel Steering

제1도는 본 발명의 한 실시예에 의한 모터구동식전후륜조향장치의 구성도.1 is a block diagram of a motor-driven front and rear wheel steering apparatus according to an embodiment of the present invention.

제2도는 모터구동식동력조향제어기능의 조향토크 대 모터전류 특성도.2 is a steering torque versus motor current characteristic diagram of the motor-driven power steering control function.

제3도는 모터구동식동력조향제어기능과 모터구동식후륜조향제어기능의 차속특성도.3 is a vehicle speed characteristic diagram of a motor driven power steering control function and a motor driven rear wheel steering control function.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

7 : 모터 8 : 전자클러치7: motor 8: electromagnetic clutch

9 : 컨트롤유닛 11 : 모터9: control unit 11: motor

12 : 모터회전각속도센서 13 : 전자클러치12: Motor rotation angular velocity sensor 13: Electronic clutch

14 : 모터감속기 15 : 후륜조향각도센서14: motor reducer 15: rear wheel steering angle sensor

21 : 조향센서 22 : 모터감속기21: steering sensor 22: motor reducer

본 발명은 자동차의 조향장치를 모터의 회전력으로 보조하는 모터구동식동력조향장치와 모터구동식후륜조향장치를 갖춘 모터구동식전후륜조향장치에 관한 것이다.The present invention relates to a motor-driven front and rear wheel steering device having a motor-driven power steering device and a motor-driven rear wheel steering device for assisting the steering device of the vehicle with the rotational force of the motor.

종래, 자동차는 저속시 고속시에 관계없이 후륜조향하는 것이 있었다.Conventionally, automobiles have steered rear wheels regardless of low speed and high speed.

이 후륜조향의 자동차에 모터구동식 동력조향장치가 장착되어 있는 경우, 모터구동식 동력조향장치의 조향부하는 차량이 정지한 상태에서 핸들을 돌렸을때 타이어와 노면의 마찰저항이 크기때문에 조향축에 가해지는 토크가 가장크며 차속이 증가함에 따라 마찰저항이 감소되어, 조향부하는 감소하게되며, 어느 차속부터는 차륜축의 얼라인먼트에 의해 조향반력(反力)이 생겨, 조향부하는 반대로 조금씩 증대하는 것이 일반적이다.If the rear wheel steering vehicle is equipped with a motor-driven power steering system, the steering load of the motor-driven power steering system has a high frictional resistance between the tire and the road surface when the steering wheel is turned while the vehicle is stopped. As the torque applied is the greatest and the vehicle speed increases, the frictional resistance decreases, so that the steering load decreases, and from some vehicle speeds, steering reaction occurs due to the alignment of the wheel axles, and it is common that the steering load increases slightly in reverse. to be.

따라서, 상기 조향토크에 따라서 보노토크도 필요하게 되고, 보조토크와 모터의 구동전류는, 거의 비례관계에 있으므로, 모터의 입력전류, 즉 차량의 배터리에 대한 전기부하가 증대하게 된다.Accordingly, bono torque is also required according to the steering torque, and the auxiliary torque and the driving current of the motor are almost in proportion to each other, so that the input current of the motor, that is, the electric load on the battery of the vehicle increases.

한편, 모터구동식후륜조향장치도 저속해서 역위상(逆位相)제어를 행하려고 하면 상술한 바와 같이 모터전류는 큰 것으로 된다.On the other hand, if the motor-driven rear wheel steering apparatus also attempts to perform reverse phase control at a low speed, the motor current becomes large as described above.

이상과 같이, 모터구동식동력조향장치와 모터구동식후륜조향장치의 두가지를 갖춘 차량에 있어서는, 정차시나 저속주행시에는 모두 대전류를 필요로 하기 때문에, 배터리와 충전발전기의 용량이 작은 소형차에 있어서는 배터리의 충전부족이 발생하기 쉽다.As described above, in a vehicle equipped with both a motor-driven power steering device and a motor-driven rear wheel steering device, since a large current is required at both stop and low speed driving, a battery in a small vehicle having a small capacity of a battery and a charging generator is required. Poor charging is likely to occur.

또, 소형차에 있어서, 배터리와 충전발전기의 용량을 크게 하더라도, 엔진의 아이들링토크가 작기 때문에, 핸들의 급속한 조향작동등에 의한 급격한 전기부하의 증가에 의해 엔진실속이나 아이들링회전수불안정을 일으킬 염려가 크다.Also, in a small car, even if the capacity of the battery and the charging generator is increased, the engine's idling torque is small. Therefore, there is a high risk of causing engine stall or idling rotational instability due to a sudden increase in electric load caused by a rapid steering operation of the steering wheel. .

또, 상기 엔진실속이나 아이들링불안정이 생기지 않도록 엔젠으로써 대책을 세우려고하면, 연비와 추종성이 나쁜 엔진이 될수 밖에 없는 문제점이 있다.In addition, attempting to take countermeasures with the engine so that the engine stall or idling instability does not occur, there is a problem that the engine is poor fuel economy and followability.

본 발명은 상기와 같은 과제를 해소시키기 위해 이루어진 것으로, 소형차량에 있어서 신뢰성을 향상시킬 수 있는 모터구동식전후륜조향장치를 얻는 것을 목적으로 한다.The present invention has been made to solve the above problems, and an object of the present invention is to obtain a motor-driven front and rear wheel steering device that can improve reliability in a small vehicle.

본 발명에 관한 모터구동식후륜조향장치는, 조향토크와 조향각증에서 적어도 한가지를 검출하는 조향센서와, 이 조향센서의 토크신호에 따라 전륜을 조향보조구동시키는 모터구동식동력조향장치와, 상기 조향신호의 조향토크 또는 조향각증에서 적어도 한 가지의 신호에 따라 후륜을 조향구동시키는 모터구동식후륜조향장치를 갖춘것이다.The motor-driven rear wheel steering apparatus according to the present invention includes a steering sensor for detecting at least one of steering torque and steering aberration, a motor-driven power steering apparatus for steering assist driving the front wheel according to the torque signal of the steering sensor, and It is equipped with a motor-driven rear wheel steering device which steers the rear wheels according to at least one signal in steering torque or steering angle of the steering signal.

본 발명에 있어서는, 차량이 장차시 또는 저속주행시는 상기 모터구동식 동력조향장치만 작동하고, 중ㆍ고속주행시는 상기 모터구동식동력조향장치와 모터구동식후륜조향장치를 공히 작동하도록 작용한다.In the present invention, the vehicle operates only the motor-driven power steering device in the future or at low speed, and operates the motor-driven power steering device and the motor-driven rear wheel steering device in both medium and high speed driving.

이하, 본 발명의 한 실시예를 도면과 같이 설명한다.Hereinafter, an embodiment of the present invention will be described as shown in the drawings.

제1도는 본 발명에 의한 모터구동식전후륜조향장치의 구성도이다.1 is a block diagram of a motor-driven rear wheel steering apparatus according to the present invention.

도면에 있어서, 1은 운전자의 조향회전력을 받는 핸들, 21은 상기 핸들(1)에 가해진 회전력에 따라 전기신호를 출력하는 토크센서와 핸들각도신호를 출력하는 핸들각도센서를 내장하는 조향센서, 2a는 상기 핸들(1)과 조향센서(21) 사이를 연결하는 제1의 조향샤프트, 2b는 조향센서(21)과 모터감속기(22) 사이를 연결하는 제2조향샤프트, 2c는 상기 제1의 모터감속기(22)와 랙과 피니언등의 운전방향변환기구를 내장한 전륜조향용기어복스(3)과의 사이를 연결시키는 제3의 조향샤프트, 4는 전륜조향구동용타이로드, 5a는 우전륜, 5b는 좌전륜, 6a는, 상기 타이로드(4)와 연결되고 상기 우전륜(5a)을 조향하는 제1의 우측너클암, 6b는 상기 타이로드(4)와 연결되고 상기 좌전륜 (5b)을 조향하는 제1의 좌측 너클암, 7은 전륜조향을 보조구동하는 제1의 모터, 8은 이 모터(7)의 출력을 기계적으로 연결, 차단하는 제1의 전자클러치, 11은 후륜을 조향하기 위한 제2의 모터, 12는 이 모터(11)의 회전각속도센서, 13은 상기 모터(11)의 출력을 연결, 차단하는 제2의 전자클러치, 14는 이 클러치(13)이 차단시에도 후륜(19a), (19b)로부터의 반력에 의해서는 자전(自轉)하지 않는 구조의 제2의 모터감속기, 15는 후륜조향각도센서, 16은 상기 모터감속기(14)의 출력에 의해 구동되고, 내부에 랙과 피니언등으로 된 운동방향변환기구를 내장한 후륜조향용기어복스, 17은 후륜조향구동용타이로드, 19a는 우후륜, 19b는 좌후륜, 18a는 상기 타이로드(17)과 연결되고, 상기 우후륜(19a)을 조향하는 제2의 우측너클암, 18b는 상기 타이로드(17)과 연결되고 상기 좌후륜(19b)을 조향하는 제2의 좌측너클암, 9는 차속센서(10)이 출력하는 차속신호와, 상기 조향센서(21)이 출력하는 토크신호에 따라 상기 제1의 모터(7)과 제1의 클러치(8)을 제어함으로써 전류의 조향보조구동을 제어하는 모터구동식 동력조향제어기능과, 상기 차속센서(10)이 출력하는 차속신호와 상기 조향센서(21)이 출력하는 토크신호, 모터의 회전각속도센서(12)가 출력하는 모터회전각속도신호, 후륜조향각도센서 (15)가 출력하는 후륜조향각도신호의 입력에 따라 상기 모터(11)과 클러치(13)을 제어함으로써 후륜의 조향을 제어하는 모터구동식후륜조향제어기능의 2종류의 기능을 합해 구비하는 컨트롤유닛이다.In the drawing, reference numeral 1 denotes a steering wheel that receives a steering rotational force of a driver, a steering sensor 21 that includes a torque sensor for outputting an electric signal and a steering wheel angle sensor for outputting a steering wheel angle signal according to a rotational force applied to the steering wheel 1, and 2a. Is a first steering shaft connecting between the handle 1 and the steering sensor 21, 2b is a second steering shaft connecting between the steering sensor 21 and the motor reducer 22, and 2c is the first steering shaft. Third steering shaft connecting the motor reducer 22 with the front wheel steering gear box 3 incorporating a driving direction converting mechanism such as a rack and pinion, 4 is a front wheel steering tie rod, and 5a is a right The front wheel, 5b is the left front wheel, 6a is the first right knuckle arm connected to the tie rod 4 and steering the right wheel 5a, 6b is connected to the tie rod 4 and the left front wheel ( The first left knuckle arm for steering 5b), 7 is a first motor for auxiliary drive of front wheel steering, and 8 is a A first electromagnetic clutch for mechanically connecting and disconnecting the output, 11 a second motor for steering the rear wheel, 12 a rotational angular velocity sensor of the motor 11, 13 connecting the output of the motor 11, The second electromagnetic clutch 14 to shut off is a second motor reducer having a structure in which the clutch 13 is not rotated by the reaction force from the rear wheels 19a and 19b even when the clutch 13 is blocked. Steering angle sensor, 16 is driven by the output of the motor reducer 14, rear wheel steering gear box with a built-in motion direction conversion mechanism, such as rack and pinion, 17 is a rear wheel steering tie rod, 19a Is a right rear wheel, 19b is a left rear wheel, 18a is connected to the tie rod 17, a second right knuckle arm steering the right rear wheel 19a, 18b is connected to the tie rod 17, and the left The second left knuckle arm 9 for steering the rear wheel 19b is a vehicle speed signal output from the vehicle speed sensor 10 and the steering sensor 21 The motor-driven power steering control function for controlling the steering assist driving of the current by controlling the first motor 7 and the first clutch 8 in accordance with the output torque signal, and the vehicle speed sensor 10 outputs According to the input of the vehicle speed signal, the torque signal output from the steering sensor 21, the motor rotation angle speed signal output from the rotation angle speed sensor 12 of the motor, and the rear wheel steering angle signal output from the rear wheel steering angle sensor 15 The control unit is provided with a combination of two types of functions of a motor-driven rear wheel steering control function for controlling steering of the rear wheels by controlling the motor 11 and the clutch 13.

제2도는 제1도에 표시된 컨트롤유닛(9)의 모터구동식동력조향제어기능을 나타내는 조향토크 대 모터전류특성도, 제3도는 제1도에 표시된 컨트롤유닛(9)의 모터구동식동력조향제어기능과 모터구동식후륜조향제어기능의 양쪽을 나타내는 차속 특성도이다.FIG. 2 is a steering torque vs. motor current characteristic diagram showing a motor driven power steering control function of the control unit 9 shown in FIG. 1, and FIG. 3 is a motor driven power steering of the control unit 9 shown in FIG. The vehicle speed characteristic diagram shows both the control function and the motor-driven rear wheel steering control function.

다음에는, 이상과 같이 구성된 본 발명장치의 동작을 제1도∼제3도를 참조하면서 설명한다.Next, the operation of the apparatus of the present invention configured as described above will be described with reference to FIGS.

먼저, 엔진이 작동되면, 베터리(도시생략)로부터 12V전원이 공급되고 컨트롤유닛(9)는 작동한다. 이때, 차량은 정차상태이므로 상기 차속센서는 OKm/h상당의 신호를 출력하게 된다. 이때 핸들(1)을 조작하면, 핸들에 가해진 조향토크와 핸들회전각도 조향센서(21)로부터 출력되게 된다.First, when the engine is operated, 12V power is supplied from a battery (not shown) and the control unit 9 is operated. At this time, since the vehicle is in a stopped state, the vehicle speed sensor outputs a signal corresponding to OKm / h. At this time, when the steering wheel 1 is operated, the steering torque applied to the steering wheel and the steering wheel rotation angle are also output from the steering sensor 21.

따라서, 컨트롤유닛(9)는, 상기 조향센서(21)의 출력에 따른 제어신호를 모터 (7)과 클러치(8)로 출력하고, 제2도에 나타낸 바와같은 제어를 한다.Therefore, the control unit 9 outputs the control signal according to the output of the steering sensor 21 to the motor 7 and the clutch 8, and performs control as shown in FIG.

즉 이 운전시동시 및 저속시는 조향센서(21)가 출력하는 토크신호에 따라서, 제1모터(7)와, 제1클러치(8)를 제어함으로써 전류의 조향보조구동을 제어하는 모터구동식동력조향제어 기능만이 작동한다. 이 모터구동식동력조향제어기능에 의하면 제2도와 같이 조향축(2a) (2b) (2c)에 약 0.6kgf.m의 토크가 가해지기까지는 제1모터(7)에 흐르는 전류가 증가하고 그 이상의 토크가 가해진 경우에는 전류증가는 없다. 여기서 0.6kgf.m의 토크가 가해지기 까지는 차속이 10Km/hr미만의 경우 약 30A의 전류가 흐르고 10∼30Km/hr의 경우는 15A가, 또 30Km/hr이상에서는 약 7A흐른다는 식으로 모터전류특성을 변동시킨다. 이것을 제3도에 의하여 차속과 모터 최대제한전류에 대한 모터전류의 비율의 관계로 표시하면 차속이 60Km/hr의 C점까지는 상술한 전륜용모터 구동식동력조향장치만이 작동하고 그 모터(7)에 차속이 10Km/hr미만의 a점까지는 모터전류가 100%(약 30A)흐르며, 10∼30Km/hr의 b점까지는 약 50%(약 15A), 30Km.hr이상에서는 약 20여%(약 7A)흐른다.That is, the motor drive type that controls the steering assist driving of the current by controlling the first motor 7 and the first clutch 8 in accordance with the torque signal output from the steering sensor 21 at the time of starting operation and at low speed. Only the power steering control function works. According to this motor-driven power steering control function, the current flowing in the first motor 7 increases until the torque of about 0.6 kgf.m is applied to the steering shafts 2a, 2b, and 2c as shown in FIG. If the above torque is applied, there is no increase in current. Here, about 30A current flows when the vehicle speed is less than 10Km / hr until the torque of 0.6kgf.m is applied. Change the characteristics. If this is expressed as the relationship between the vehicle speed and the ratio of the motor current to the motor maximum limit current according to Fig. 3, only the above-described motor-driven power steering device for the front wheel operates up to the point C of 60 km / hr. ), The motor current flows 100% (about 30A) to a point less than 10Km / hr, about 50% (about 15A) to point b of 10 ~ 30Km / hr, and about 20% (more than 30Km.hr) About 7A)

이와같이 a점, b점에 있어서, 모터전류를 급감시키고 있는 것은 차속이 상승하면 조향토크가 저하하기 때문에 모터구동식동력조향제어기능을 보조하는 힘이 약해도 되므로 이 a점, b점에서 모터전류를 급감시키고 있다.In this way, at the points a and b, the motor current is suddenly reduced so that the steering torque decreases when the vehicle speed rises, so that the power to assist the motor-driven power steering control function may be weak. Is plunging.

즉 차속센서(10)가 C점의 차속을 검지하기 까지는 컨트롤유닛(9)은 조향센서 (21)로 부터만의 신호를 수신하고 이에따라 전륜용모터구동식 동력조향제어기능만을 작동시키는 것이다.That is, until the vehicle speed sensor 10 detects the vehicle speed at point C, the control unit 9 receives a signal from the steering sensor 21 only and operates only the motor-driven power steering control function for the front wheel accordingly.

그리고 상기와 같이 C점의 차속에 도달하면 차속센서(10)가 이를 검지하고 이때부터 회전각도속도센서(12) 및 후륜조향각도센서(15)로부터의 신호도 컨트롤유닛 (9)에서 수신하고 이들과 상기 조향센서(21)로부터의 신호에 기준하여 제2모터(11)가 구동되어서 후륜의 조향도 수행하게 된다.When the vehicle speed of point C reaches the vehicle speed as described above, the vehicle speed sensor 10 detects it, and from this time, the signals from the rotation angle speed sensor 12 and the rear wheel steering angle sensor 15 are also received by the control unit 9 and these The second motor 11 is driven based on the signal from the steering sensor 21 to steer the rear wheels.

제3도의 특성도에 의하여 설명하면 차속이 100Km/hr 부근까지는 제2모터 (11)에 흐르는 전류가 증가하고, 그 차속을 초과하게 되면 제2모터에는 최대전류가 계속 흐르게 된다.Referring to the characteristic diagram of FIG. 3, the current flowing in the second motor 11 increases until the vehicle speed is around 100 Km / hr, and when the vehicle speed is exceeded, the maximum current continues to flow in the second motor.

C점이상의 차속이 되면 조향에 소요되는 배터리전류량은 전륜의 동력조향장치가 소비하는 전류량에 후륜용의 조향장치가 소비하는 전류량을 가산한 량이 된다.When the vehicle reaches a point C or higher, the amount of battery current required for steering is the amount of current consumed by the front steering power steering unit plus the amount of current consumed by the rear steering system.

이상 설명한 바와같이, 본 발명에 의하면, 소정차속이하에서는 모터구동식동력 조향제어기능만을 작동시킴으로써 이것이 소형차량에 장치된 경우, 정차중에 핸들을 조작하거나 저차속에서 조향작동시킬때 종래의 모터구동식동력조향장치 이상의 대전류를 흐르게하는 일은 없게된다.As described above, according to the present invention, by operating only a motor-driven power steering control function at or below a predetermined vehicle speed, when it is installed in a small vehicle, a conventional motor-driven vehicle is operated when steering a steering wheel during steering or steering at a low vehicle speed. No large current flows beyond the power steering.

따라서 배터리와 충전발전기의 용량을 증가시킬필요가 없으며, 엔진실속이나 아이들링회전수의 불안정도 없으며, 모터구동식동력조향기능과 모터구동식후륜조향기능을 양립시킬 수 있고, 이 결과 소형차량에 있어서도 고속주행중의 신뢰성을 향상시키고, 그 위에 저렴한 가격의 모터구동식전후륜조향장치를 제공할 수 있다.Therefore, there is no need to increase the capacity of the battery and the charging generator, there is no engine stall or idling rotation instability, and the motor-driven power steering function and the motor-driven rear wheel steering function can be compatible. It is possible to improve the reliability during high-speed driving, and to provide a low-cost motor-driven rear wheel steering device thereon.

Claims (1)

조향토크와 조향각중에서 적어도 한 가지를 검출하는 조향센서(21)와, 이 조향센서(21)에서 발생된 조향토크신호와 조향각신호 중 적어도 하나에 응답하여 후륜 (19a) (19b)을 조향하는 모터구동식 후륜조향장치(11)∼(15)와 상기 조향센서 (21) , 차속센서(10), 모터회전각속도센서(12), 후륜조향각도센서(15)로부터 신호를 수신하여 모터구동식 동력조향장치와 모터구동식후륜조향장치를 제어하는 컨트롤유닛 (9)으로 구성되고, 상기 모터구동식동력조향장치(7)(8)(22)는 조향센서(21)로부터의 토크신호에 응답하여 전륜(5a)(5b)조향을 보조하며 상기 컨트롤유닛(9)은 차량의 정지시 저속주행시에는 상기 모터구동식동력조향장치(7)(8)(99)만을 작동시키고, 차량의 중ㆍ고속주행시는 상기 모터구동식동력조향장치(7)(8)(22)와 모터구동식후륜장치 (11)∼(15)를 공히 작동시키는 것을 특징으로하는 모터구동식 전후륜조향장치.A steering sensor 21 for detecting at least one of the steering torque and the steering angle, and a motor for steering the rear wheels 19a and 19b in response to at least one of the steering torque signal and the steering angle signal generated by the steering sensor 21. Motor-driven power is provided by receiving signals from the driven rear wheel steering devices 11 to 15, the steering sensor 21, the vehicle speed sensor 10, the motor rotation angle speed sensor 12, and the rear wheel steering angle sensor 15. And a control unit 9 for controlling the steering device and the motor-driven rear wheel steering device, wherein the motor-driven power steering devices 7, 8, 22 are in response to torque signals from the steering sensor 21. The front wheels 5a and 5b assist in steering, and the control unit 9 operates only the motor-driven power steering devices 7, 8, and 99 when the vehicle is stopped at low speed. When driving, the motor-driven power steering device (7) (8) (22) and the motor-driven rear wheel device (11) to (15) are operated simultaneously. Motor driven front and rear wheel steering system, characterized in that the.
KR1019900007364A 1989-05-24 1990-05-22 Motor driven type front and rear wheel steering apparatus KR930000648B1 (en)

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JP1131825A JPH037673A (en) 1989-05-24 1989-05-24 Motor-driven front & rear wheel steering device
JP1-131825 1989-05-24

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JPH037673A (en) 1991-01-14
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